Dynamic analysis and control of a Fusion Reactor Vacuum Vessel Assembly Robot
Moradkhani, Shayan; Shabbouei Hagh, Yashar; Wu, Huapeng; Handroos, Heikki (2020-02-06)
Post-print / Final draft
Moradkhani, Shayan
Shabbouei Hagh, Yashar
Wu, Huapeng
Handroos, Heikki
06.02.2020
Fusion Engineering and Design
154
Elsevier
School of Energy Systems
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe202003249095
https://urn.fi/URN:NBN:fi-fe202003249095
Tiivistelmä
The assembly of vacuum vessel (VV) is a vital task for the fusion reactor. This paper introduces simulation of a parallel robot built up for the assembly of fusion reactor CFETR (Chinese Fusion Engineering Test Reactor) to carry out welding of adjacent VV sectors using splice plates, and machining in case some sectors need to be replaced for repair. The kinematics and dynamics equations of the robot are obtained, and a non-singular terminal sliding mode controller is designed which overcomes the drawbacks of the conventional linear sliding mode control. The stability of the system is verified using the Lyapunov stability criteria. The proposed method is tested by defining a trajectory for the robot’s end-effector and simulating the multi-body model of the robot.
Lähdeviite
Moradkhani, S., Shabbouei Hagh, Y., Wu, H., Handroos, H. (2020). Dynamic analysis and control of a Fusion Reactor Vacuum Vessel Assembly Robot. Fusion Engineering and Design, vol. 154. DOI: 10.1016/j.fusengdes.2020.111532
Kokoelmat
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